基于干扰补偿的不确定机器人鲁棒滑模跟踪控制  

Disturbance Compensation Based Robust Sliding-Mode Tracking Control for Uncertain Robots

作　　者：唐传胜[1] 李忠敏 李超 

机构地区：[1]南阳理工学院机械与汽车工程学院,河南南阳473004 [2]南阳工业学校机电工程系,河南南阳473035 [3]南阳市红阳锻造有限公司,河南南阳473000

出　　处：《组合机床与自动化加工技术》2016年第7期99-101,104,共4页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：以含有参数不确定和外部扰动的机器人系统为对象,研究不确定机器人系统的轨迹跟踪问题。结合系统辨识理论和滑模理论,提出了一种基于干扰补偿的机器人鲁棒滑模控制方法。该方法采用非线性观测器实现系统不确定项的在线估计与补偿,利用滑模控制来增强系统的鲁棒性,并利用基于sigmoid函数的新型滑模趋近率来抑制传统滑模控制的固有抖振现象。最后,以2关节机器人为例,通过仿真验证了文中方法的有效性,不仅有效解决了传统滑模控制的固有抖振现象,而且对系统存在的不确定性扰动具有很强的鲁棒性。The problem of trajectory tracking for uncertain robot system,which contains uncertain parameters and external distance,is researched in this paper. Combined with the system identification theory and sliding mode theory,a robot robust sliding mode control method was proposed with disturbance compensation in this paper. Nonlinear observer was used to estimate and compensate system uncertainties,and sliding mode control was used to enhance the robustness of the system. Then,a newrate with sigmoid function was used to suppress the intrinsic chatting phenomenon in the traditional sliding mode control. Finally,the effectiveness of the presented approach was validated by the 2-joint robot,which is not only effective solution to the traditional sliding mode control inherent chattering phenomenon,and the uncertainty of the system is robust to disturbances.

关 键 词：机器人 滑模控制 非线性观测器 

分 类 号：TH16[机械工程—机械制造及自动化] TG65[金属学及工艺—金属切削加工及机床]